Advanced autonomous action elements in combination control of remote operation and autonomous control

This paper examines the combination control in which remote operation is combined with autonomous behaviors with the aim to realize the remote operation of mobile robot which moves in human-coexisting environment. We consider the distance and direction to an obstacle and the speed of motion of the mobile robot for revolution, following, and slowdown, which we have proposed as the autonomous action element in combination control. Fuzzy reasoning and vector components are used. From the experiment by three subject persons, almost the same result has been obtained. When the distance and direction to an obstacle and the speed of motion of the mobile robot are considered, there doesn't seem to be a great difference in following, but mileage becomes shorter in revolution and transit time is reduced in slowdown.